Chapter Objective: - Understand Laplace Transform - Use Laplace Transform To Solve ODE

Chapter 2
Review of Laplace Transforms
Chapter Objective:
Understand Laplace Transform
Use Laplace Transform to solve ODE
Jan-17 C2.1
ME2142 Feedback Control Systems
Copyright ME, NUS. All Rights Reserved.
Mathematical preliminaries
Im
Complex Variable.
Consists of a real part and an imaginary
part
This complex quantity has a mangnitude r

, at an angle w.r.t. to the real axis. We
have
Re
s cos sin

Complex Conjugate
Given a complex quantity ,
Its complex conjugate is

or
Jan-17
ME2142 Feedback Control Systems C2.2
Arithmetic operation of complex number
Given and , we have
Equality of complex number
and
Addition and subtraction
Multiplication
Division
Jan-17
Complex Function
Im G(s) plane

G(s)
Gy
tan
|G(s)|
Therefore (s)
Re

Gx
Jan-17
Example of Complex Function
s-plane
Example:
2
1.5
0.5
Imaginary axis
0
For , -0.5
-1
-1.5
-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Real axis
2 2
G(s)-plane
2 cos 2 2cos sin 2 2sin 1.5
where 0.5
Imaginary axis
0
-0.5
-1

-1.5
-2
-1 -0.5 0 0.5 1 1.5 2 2.5 3
Real axis
Jan-17 ME2142 Feedback Control Systems C2.5

Laplace Transforms
A mathematical tool that transforms difficult differential equations
into simple algebraic equations where solutions can be easily
obtained.
Definition:

0 for 0
Inverse Transform:
1

2
Normally Tables of Laplace Transform pairs are used for taking the
Laplace Transfrom and the Inverse Transforms
Jan-17
Laplace Transform Example 1
Unit Step function
1 , 0

0 0
Laplace transforms of unit step function
Jan-17
Unit Ramp function
, 0

0 0
Its Laplace transform will be
Jan-17
Exponential function

We have
Jan-17
Sinusoidal functions
sin , 0
Since, sin
1
sin
2
1 1 1
2
1
2
Similarly,
cos
Jan-17
Sample of Laplace Transform Pairs
1 Unit impulse 1
2 Unit step 1
3 , 1,2,3, !
4 1
5 !
6 sin
7 cos
8 sin
9 cos
Jan-17
Properties of Laplace Transforms
Linearity: Example:
Given that

and

sin
So,
3 5 sin 2
=3 5 sin 2
=3 5

Time Delay: Multiply by :
Notation:
Example:
Example: e e
Given that =
!

,
0
Then,
2
=e =e

Variable transform: Approach 1:
1 Given that
!

Example:
therefore,
Find for 8 8
= 8 =
Approach 2:
8 2
1 6
2 /2
48

Multiply by t: Example:
Given that

therefore,

1
= =
Find for 8

Derivatives:
0 0
"
0 0 0 0

0 0 0
Example:
Given 3 with initial condition 0 2.
Then
3
1
0 3
1
3 2
1 2
3 3
Jan-17
Final value Theorem:
lim lim No#ce the innity on the LHS vs the 0 on the RHS

Initial value Theorem:

0 lim

Jan-17
Finding the Inverse
1. By definition
1

2
2. Using the Table of Transform Pairs
3. Using Laplace Transform properties
4. Using Partial Fraction Expansion
(We do not normally use Approach 1. We use a combination of 2 to 4.)
Jan-17
Finding Inverse Using Transform Pairs
Example:
Find the inverse of

Solution:
From Table: From Lookup Table

5 1
5 5 Using property:
3 3
8 4
2 2 sin 4
16 4 From Lookup Table: sin
Hence
5 2 sin 4
Linearity property
Jan-17
Finding Inverse Using Transform Pairs
Example:
Find the inverse of
Solution:
2 2
2 5 2 5
2
Note: 1 2 1
1 2
Noting that: sin 2 From Lookup Table: sin
2
sin 2 Using property:
1 2
Hence
sin 2 8 , 8
Using property:
0 , 8
Jan-17
Dis#nct Poles
Partial Fraction Expansion
Given a rational function Multiply both sides by
yields
,

for
where all are either real or in Taking the limit of , LHS
becomes
complex conjugate pair and lim
are distinct.
For the RHS, we have

We try to express in the
form of lim

(*) Therefore, for (*)

lim lim


PFE Example 1
Example:
Given
Then can be expanded into
We have
1
3
Therefore
3 6 3
Jan-17
PFE Involves Repeated Poles
Consider the following F(s): For , we differentiate (3) w.r.t. s,
2 3 yields.
(1)
1 2 2 2 1 (4)
The partial-fraction expansion of Letting 1 yields
this involves three terms. 2 1 2 0
(2) 1 1 1
To determine , we multiply both For , we differentiate (4) w.r.t. s,
side by 1 and yields yields.
(3) 1 1 1 2 2
For , we let 1. 1
from deni+on of b3 1 Thus,
1 2 1 3 2 1 2
1 1

PFE Involves Repeated Poles
From previous example, we can summarize the repeated poles as
follows:
Given

where
|
Jan-17
Inverse Laplace Transform Example 1
Given
Solution:
Expand in partial fraction form will yields
1 2 3
where
5 3
lim 1 1
2 3
5 3
lim 2 7
1 3
5 3
lim 3 6
1 2
i.e.
Taking inverse Laplace transform from the table will yields
7 6
Jan-17
Complex poles
2 12 2 12 Alternatively, we re-arrange as
Given 2 2 5 1 2 1 2
2 1 10 2 1 5 2
Solution: (2 Approaches) 1 2 22 1 2 22 1 2 22
Method 1: Noting that,
1 2
sin , cos
1 2 1 2 and the property,
where
1 2 |
1 1 2 We have,
2 1 2 12 10 4 4 10
1 2 1 2 4 4 cos 2 , and
4 10
2 1 2 | 1 2 4
sin 2
Taking inverse Laplace transform
4 10 1 2 4 10 1 2 Hence,
4 4
2 2
2 cos 2 5 sin 2
4 10 4 10
4
2 2 2 2
4 10
4
8 cos 2 20 sin 2
4
8 cos 2 5 sin 2

Complex poles
Given
Solution:
1 2
where
1 2 | 2
2
1
2 1 | 2
1 |
Taking inverse Laplace transform

1 2t
Jan-17
Solving differential equations
1. Take the Laplace transform of the differential equation to convert
it into an algebraic equation. The Laplace transform of the
dependent variable is then obtained using simple Algebra.
2. The time function of the dependent variable is then obtained by
taking the inverse of the Laplace transform.
Jan-17
Solving differential equations
Example:
Solve the o.d.e. given below
2 5 3, 0 0, 0 0
Solution:
Taking Laplace Transform on the above o.d.e. yields
3
0 0 2 0 5
with the initial conditions, we have

3
2 5
giving
Taking inverse of Y(s)

3 1 2 3
1 cos 2 0.5 sin 2
5 2 5 5
Jan-17
The End


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Chapter 2

Review of Laplace Transforms

This complex quantity has a mangnitude r

Its complex conjugate is

2 cos 2 2cos sin 2 2sin 1.5

Jan-17 ME2142 Feedback Control Systems C2.5

Jan-17 ME2142 Feedback Control Systems C2.12

Jan-17 ME2142 Feedback Control Systems C2.13

Jan-17 ME2142 Feedback Control Systems C2.14

Jan-17 ME2142 Feedback Control Systems C2.15

Initial value Theorem:

(We do not normally use Approach 1. We use a combination of 2 to 4.)

Find the inverse of

From Table: From Lookup Table

For the RHS, we have

(*) Therefore, for (*)

Jan-17 ME2142 Feedback Control Systems C2.21

Then can be expanded into

Jan-17 ME2142 Feedback Control Systems C2.23

Jan-17 ME2142 Feedback Control Systems C2.26

Taking inverse Laplace transform

with the initial conditions, we have

Taking inverse of Y(s)

Jan-17 ME2142 Feedback Control Systems C2.30

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